#include   "RoboRoller.h"
#include "RoboDevice.h"
#include "vex.h"
using namespace vex;
namespace RoboRoller{
    double Pi = acos(-1);

    void RollerRollinginAngle(double Angle){                                  //滚筒转到 Angle 角度
        RoboDevice::RoboRoller.spinTo(Angle,deg,60,rpm,true);
    }

    void RollerRollingWithW(double WRoller){                            //滚筒以一定速度旋转
        RoboDevice::RoboRoller.spin(fwd,WRoller*360/(2*Pi),dps); 
    }

    // void ArmUpRollinginAngle(double Angle){                               //机械臂转到 Angle 角度
    //     RoboDevice::RoboArm.spinFor(fwd,Angle,deg,30/*需要测*/,rpm,true);
    // }

    // void ArmDownRollinginAngle(double Angle){                               //机械臂转到 Angle 角度
    //     RoboDevice::RoboArm.spinFor(reverse,Angle,deg,60/*需要测*/,rpm,true);
    // }

    // void ArmRollingWithW(double WArm){                                  //机械臂以一定速度旋转
    //     RoboDevice::RoboArm.spin(fwd,WArm * 360/(2*Pi),dps); 
    // }

    

}